KR102300790B1 - Moving Robot and controlling method - Google Patents

Abstract

A mobile robot and a control method thereof according to the present invention determine whether a received signal is a preset signal, and are configured to classify noise caused by overlapping signals and control the operation of the sensor for detecting obstacles according to the operating state of a main body to limit the transmission of the detection signal. By distinguishing each signal, obstacles are easily detected and the main body returns to the charging station. A signal interference with respect to a plurality of sensors using signals of a same wavelength band can be minimized. The mobile robot includes a main body; a sensor unit; a docking signal receiving unit; a driving unit; and a control unit.

Description

Mobile robot and its controlling method

The present invention relates to a mobile robot and a method for controlling the same, and to a mobile robot for recognizing obstacles while traveling in an area, and to a method for controlling the same.

In general, a mobile robot is a device that automatically cleans by sucking foreign substances such as dust from a floor while driving in an area to be cleaned without user's manipulation.

The mobile robot can create a map for the area to be cleaned while traveling in the area to be cleaned. The mobile robot may perform cleaning while driving based on the generated map. The mobile robot detects obstacles located in the area while driving and avoids the obstacles and drives.

The mobile robot drives autonomously by using the charging current stored in the battery as an operating source. The mobile robot receives a signal transmitted from the charging station and returns to the charging station, thereby charging the battery.

However, there is a problem in that the mobile robot is provided with a plurality of sensors and is configured to transmit/receive and process various signals, thereby causing interference between signals. Such signal interference has a problem of generating unnecessary noise. Accordingly, the mobile robot may be hindered in returning to the charging station due to the interference of such signals, and also, when detecting an obstacle or the like, a case of erroneously detecting the obstacle due to the influence between the signals may occur.

Republic of Korea Patent Registration No. 10-1620449, in the robot cleaner, including an IR sensor for receiving the IR signal of the transmitting device transmitted in a plurality of directions, determine the transmission direction according to the IR signal, and remove the reflected wave signal to determine the transmission direction It explains how to return to the charging station by estimating.

Although the prior invention removes the reflected wave signal of the IR signal, there is a limit because interference with signals transmitted from other sensors provided in the mobile robot is not considered.

Therefore, there is a need to improve not only the signal of the charging station, but also the mutual interference with respect to a plurality of signals transmitted and received by the mobile robot and improve obstacle detection and docking of the charging station.

Republic of Korea Patent Registration No. 10-1620449

An object of the present invention is to provide a mobile robot that minimizes signal interference between the mobile robot and a charging station, and a method for controlling the same.

An object of the present invention is to distinguish a plurality of sensor signals from a plurality of sensors using signals of the same wavelength band.

An object of the present invention is to avoid interference between a signal transmitted from a plurality of sensors provided in a mobile robot to detect an obstacle and a docking signal of a charging station.

An object of the present invention is to minimize the erroneous detection of the obstacle by recognizing the detection signal for the obstacle.

An object of the present invention is to recognize the docking signal of the charging station and return to the charging station.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

A mobile robot and a control method thereof according to an embodiment of the present invention for achieving the above object, distinguishing a plurality of signals by distinguishing a signal through an operation state and a preset signal with respect to a received signal characterized in that

The present invention is characterized in that a plurality of signals of the same wavelength band are distinguished by determining whether a received signal is a predetermined signal.

The present invention is characterized in that the sensing signal and the docking signal are controlled according to whether the user is cleaning or moving to a destination.

The present invention is characterized in that the signal is classified by determining whether the received signal is noise.

The present invention is characterized in that it is determined whether or not a false sense is detected by comparing patterns of received signals.

The present invention is characterized in that signal interference is prevented by adjusting the signal generation period.

The present invention is characterized in that a received signal is distinguished by limiting some signals when a signal is erroneously detected.

The present invention is characterized in that the operation of some sensors is temporarily stopped according to a received signal to prevent signal interference.

The present invention is characterized in that the signal is divided according to a signal period set for a plurality of signals in the same wavelength band.

A mobile robot of the present invention includes a main body that travels in an area; a sensor unit disposed in front of the main body to transmit a detection signal to detect an obstacle located at a predetermined distance from the main body; a docking signal receiving unit for receiving a docking signal transmitted from the charging station; a driving unit for controlling the driving of the main body; and a control unit that determines the position of the obstacle in response to the detection signal, controls driving in response to the obstacle, and controls the driving unit to dock the charging station according to the docking signal when charging is required, wherein the control unit includes the sensor The addition controls to transmit the detection signal in a period different from the signal transmission period of the docking signal, and when the docking signal and the detection signal overlap to generate noise, it is determined as a signal erroneous detection and the operation of the sensor unit is stopped for a certain period of time characterized in that

The control method of the mobile robot of the present invention includes the steps of detecting an obstacle by transmitting detection signals from a plurality of sensors disposed in front of a main body while driving; determining the position of the obstacle in response to the detection signal and performing a designated operation in response to the obstacle; If charging is required, stopping the operation and moving to a charging station; determining that the signal is erroneously detected when the docking signal of the charging station and the detection signal overlap to generate noise; stopping the operation of the plurality of sensors for a specified stop time; and docking the charging base according to the docking signal.

The mobile robot and its control method of the present invention can minimize signal interference between the mobile robot and the charging stand.

The present invention can minimize signal interference with respect to a plurality of sensors using signals of the same wavelength band and distinguish each signal.

According to the present invention, a plurality of sensors for detecting an obstacle by distinguishing a plurality of signals can easily detect the obstacle through the detection signal.

The present invention can minimize the erroneous detection of the obstacle by recognizing the detection signal for the obstacle.

The present invention can easily return to the charging station by recognizing the docking signal of the charging station.

The present invention can prevent malfunction of each device by minimizing signal interference between a plurality of devices using signals of the same wavelength band.

The present invention can minimize use restrictions due to signal interference for a plurality of sensors provided in a device.

The present invention can operate independently in the same space by minimizing signal interference with pre-installed products.

1 is a perspective view showing a mobile robot according to an embodiment of the present invention.
2 is a block diagram illustrating main parts of a mobile robot according to an embodiment of the present invention.
3 is a diagram referenced for explaining signal interference between a mobile robot and a charging station according to an embodiment of the present invention.
4 is a diagram illustrating a detection signal for detecting an obstacle of a mobile robot according to an embodiment of the present invention.
5 is a diagram illustrating a docking signal of a charging station according to an embodiment of the present invention.
6 is a diagram referenced for explaining a signal interference phenomenon between a detection signal and a docking signal of a mobile robot according to an embodiment of the present invention.
7 is a flowchart illustrating a control method for signal processing of a mobile robot according to an embodiment of the present invention.
8 is a flowchart illustrating a signal flow between a mobile robot and a charging station according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout. The control configuration of the present invention may consist of at least one processor.

1 is a perspective view showing a mobile robot according to an embodiment of the present invention.

Referring to FIG. 1 , the mobile robot 1 according to an embodiment of the present invention moves along the floor of the cleaning area, and the main body 10 sucks foreign substances such as dust on the floor, and the front surface of the main body 10 . It is disposed on the detecting means (100, 170) for detecting an obstacle.

The main body 10 has a casing (not shown) that forms an exterior and forms a space in which the parts constituting the main body 10 are accommodated, and a suction unit 261 disposed in the casing to suck foreign substances such as dust or garbage. ), and may include a left wheel (not shown) and a right wheel (not shown) rotatably provided on the casing. As the left and right wheels rotate, the main body 10 moves along the floor of the cleaning area, and in this process, foreign substances are sucked through a suction port (not shown) formed toward the floor.

The suction unit 261 may include a suction fan (not shown) that generates a suction force, and a suction port (not shown) through which an airflow generated by the rotation of the suction fan is sucked. The suction unit 261 may include a filter (not shown) for collecting foreign substances from the airflow sucked through the suction port, and a foreign substance collecting container (not shown) in which the foreign substances collected by the filter are accumulated.

The suction unit 261 includes a rotating brush (not shown) and rotates while suctioning the airflow to assist in collecting foreign substances. The suction unit is configured to be detachable as needed. The main body 10 is positioned on the front side of the bottom surface of the casing, and a plurality of brushes (not shown) having a brush composed of a plurality of radially extending wings may be further provided.

In addition, a wet mop cleaning unit may be detachably attached to the suction unit 261 . The wet mop cleaner may be mounted on the rear side of the suction port. In some cases, the wet mop cleaning unit is configured separately from the suction unit and may be replaced and installed at a position where it is fastened to the suction unit. The wet mop cleaner rotates while moving and wipes the floor surface in the running direction.

The main body 10 may include a driving unit (not shown) for driving the left wheel and the right wheel. The driving unit may include at least one driving motor.

The main body 10 is positioned on the front side of the bottom surface of the casing, and a plurality of brushes (not shown) having a brush composed of a plurality of radially extending wings may be further provided. The veterinary brush removes dust from the floor of the cleaning area by rotation, and the dust separated from the floor is sucked through the suction port and collected in the collecting bin.

A control panel including a manipulation unit (not shown) for receiving various commands for controlling the mobile robot 1 from a user may be provided on the upper surface of the casing.

The sensing means includes an obstacle detecting unit 100 , a sensor unit (not shown) composed of a plurality of sensors, and an image acquisition unit 170 capturing an image. In some cases, the obstacle detection unit 100 may include an image acquisition unit 170 and a sensor unit 150 .

The obstacle detecting unit 100 may be a 3D sensor that detects an obstacle through an image captured by irradiating a light pattern. Also, the obstacle detecting unit 100 may detect an obstacle in the driving direction using ultrasonic waves, infrared rays, and lasers. The obstacle detecting unit 100 may include at least one camera, and may detect an obstacle from an image captured by the camera.

The obstacle detecting unit 100 may be disposed on the front side of the main body 10 .

The obstacle detecting unit 100 is fixed to the front surface of the casing, and includes a first pattern irradiation unit (not shown), a second pattern irradiation unit (not shown) and a pattern acquisition unit (not shown). In this case, the pattern acquisition unit may be installed under the pattern irradiation unit or disposed between the first and second pattern irradiation units to photograph the irradiated pattern as an image. The first pattern irradiation unit and the second pattern irradiation unit irradiate the pattern at a predetermined irradiation angle.

The image acquisition unit 170 captures an image of the traveling direction of the mobile robot 1 . Also, the image acquisition unit 170 may photograph the front of the driving direction or the upper part of the driving direction, for example, the ceiling. The image acquisition unit 170 may be provided to face the ceiling, or may be provided to face the front to photograph the driving direction. In addition, the image acquisition unit 170 may simultaneously photograph the front and the upward direction of the traveling direction, that is, the ceiling according to the installation position in the main body 10 and the installation angle with respect to the traveling direction. The image acquisition unit may set a different angle of view to be photographed according to the performance of the installed camera or the type of lens.

The image acquisition unit 170 will be described as an example including at least one camera, and any image acquisition means for capturing an image may be applied regardless of the type of camera.

The image acquisition unit 170 may include a plurality of cameras, and two cameras facing the front and the ceiling are respectively installed on the front and upper parts of the main body, respectively, to take images of the front and the ceiling, respectively. In addition, the image acquisition unit 170 may be separately provided with a camera for photographing the floor.

The sensor unit 150 may detect an obstacle including an infrared sensor, an ultrasonic sensor, and a laser sensor. In addition, the sensor unit 150 may detect the inclination of the main body 10 including a tilt sensor, for example, a tilting sensor, a gyro sensor, etc. can detect

The mobile robot 1 may further include a location acquisition means (not shown) for acquiring current location information. The mobile robot 1 determines the current position including GPS and UWB.

The main body 10 is provided with a rechargeable battery (not shown), and the charging terminal (not shown) of the battery is connected to commercial power (eg, a power outlet in the home) or a separate charging stand connected to commercial power ( 40), the main body 10 is docked, the charging terminal is electrically connected to commercial power through contact with the terminal 410 of the charging station, and the battery can be charged. Electrical components constituting the mobile robot 1 may receive power from the battery, and thus, the mobile robot 1 can travel by itself while the battery is charged and electrically separated from commercial power.

2 is a block diagram illustrating main parts of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 2 , the mobile robot 1 includes a traveling unit 250 , a cleaning unit 260 , a data unit 180 , an obstacle sensing unit 100 , an image acquisition unit 170 , and a sensor unit 150 . , a communication unit 290 , a manipulation unit 160 , an output unit 190 , and a control unit 110 for controlling overall operations.

The manipulation unit 160 receives a user command including input means such as at least one button, a switch, and a touch pad. The manipulation unit may be provided at the upper end of the main body 10 as described above.

The output unit 190 has a display such as LED and LCD, and displays the operation mode, reservation information, battery state, operation state, error state, etc. of the mobile robot 1 . In addition, the output unit 190 is provided with a speaker or a buzzer, and outputs a predetermined sound effect, warning sound, or voice guidance corresponding to the operation mode, reservation information, battery state, operation state, and error state.

The data unit 180 stores the acquired image input from the obstacle detection unit 100 , the reference data for the obstacle recognition unit 210 to determine the obstacle, and the obstacle information on the detected obstacle is stored.

The data unit 180 stores obstacle data 181 for determining the type of obstacle, image data 182 in which a photographed image is stored, and map data 183 for an area. The map data 183 includes obstacle information, and various types of maps (maps) for a drivable area searched for by the mobile robot are stored.

For example, a basic map including information on the drivable area searched for by the mobile robot, a cleaning map in which an area is separated from the basic map, a user map generated so that the user can check the shape of the area, and a cleaning map and A guide map in which user maps are overlapped and displayed may be stored.

The obstacle data 181 includes the position and size of the detected obstacle. Also, the obstacle data 181 may include information for recognizing an obstacle and determining the type of the obstacle, and information on an operation set in response to the obstacle. The obstacle data includes motion information on the motion of the mobile robot with respect to the recognized obstacle, for example, traveling speed, driving direction, avoidance, stop, etc., and information on sound effects, warning sounds, and voice guidance output through the speaker 173 . is included The image data 182 may include a photographed image, for example, a still image, a moving image, or a panoramic image.

In addition, the data unit 180 stores control data for controlling the operation of the mobile robot, data according to the cleaning mode of the mobile robot, and detection signals such as ultrasonic/laser by the sensor unit 150 .

In addition, the data unit 180 is to store data that can be read by a microprocessor, HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, It may include a storage device such as an EPROM, EEPROM, or flash memory.

The communication unit 290 communicates with the terminal 80 in a wireless communication method. Also, the communication unit 290 may be connected to an Internet network through an in-home network and communicate with an external server 90 or a terminal 80 that controls the mobile robot.

The communication unit 290 transmits the generated map to the terminal 80, receives a cleaning command from the terminal, and transmits data on the operation state and cleaning state of the mobile robot to the terminal. Also, the communication unit 290 may transmit information about an obstacle detected while driving to the terminal 80 or the server 90 .

The communication unit 290 transmits and receives data including a communication module such as short-range wireless communication such as ZigBee and Bluetooth, Wi-Fi, and WiBro.

The communication unit 290 communicates with the charging station 40 and may receive a charging station return signal or a guide signal for docking the charging station. The mobile robot 1 searches for a charging station based on a signal received through the communication unit 290 and docks with the charging station.

On the other hand, the terminal 80 is a device equipped with a communication module, a network connection is possible, and a program for controlling a mobile robot or an application for controlling a mobile robot is installed. can be used In addition, the terminal may also use a wearable device such as a smart watch.

The traveling unit 250 includes at least one driving motor to allow the mobile robot to travel according to a control command of the traveling control unit 230 . As described above, the driving unit 250 may include a left wheel driving motor rotating the left wheel 36(L) and a right wheel driving motor rotating the right wheel 36(R).

The cleaning unit 260 operates a brush to make it easy to suck dust or foreign substances around the mobile robot, and operates a suction device to suck the dust or foreign substances. The cleaning unit 260 controls the operation of the suction fan provided in the suction unit 34 for sucking foreign substances, such as dust or garbage, so that the dust is put into the foreign substance collecting bin through the suction port.

In addition, the cleaning unit 260 is installed at the rear of the bottom surface of the main body and in contact with the floor surface to wet the mop cleaning unit (not shown) for wiping the floor, water bucket (not shown) for supplying water to the wet mop cleaner may further include. . The cleaning unit 260 may be equipped with a cleaning tool. For example, a wet mop pad can be mounted on the wet mop cleaning unit to clean the floor. The cleaning unit 260 may further include a separate driving means for transmitting rotational force to the wet-cloth pad of the wet-cloth cleaning unit.

The battery (not shown) supplies power required for the overall operation of the mobile robot 1 as well as the driving motor. When the battery is discharged, the mobile robot 1 may travel to return to the charging station 40 for charging, and during this return driving, the mobile robot 1 may detect the position of the charging station by itself. The charging station 40 may include a signal transmitting unit (not shown) for transmitting a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not necessarily limited thereto.

The obstacle detecting unit 100 irradiates a pattern of a predetermined shape, and acquires the irradiated pattern as an image. The obstacle detection unit 100 may include at least one pattern irradiation unit (not shown) and a pattern acquisition unit. In some cases, the image acquisition unit 170 may operate as a pattern acquisition unit.

In addition, the obstacle detecting unit 100 may detect a position and a distance size of an obstacle located in the driving direction, including an ultrasonic sensor, a laser sensor, and an infrared sensor. In addition, the obstacle detecting unit 100 may detect the obstacle as an image of the traveling direction. The sensor unit and the image acquisition unit may be included in the obstacle sensing unit.

The sensor unit 150 detects an obstacle including a plurality of sensors. The sensor unit 150 detects an obstacle in the front, that is, in the driving direction, using at least one of a laser, an ultrasonic wave, and an infrared ray.

In addition, the sensor unit 150 may further include a cliff detection sensor for detecting whether a cliff exists on the floor in the driving zone. When the transmitted signal is reflected and incident, the sensor unit 150 inputs information on whether an obstacle exists or a distance to the obstacle as an obstacle detection signal to the control unit 110 .

The sensor unit 150 includes at least one inclination sensor to detect the inclination of the body. The tilt sensor calculates the tilted direction and angle when the body tilts in the front, back, left, and right directions. A tilt sensor, an acceleration sensor, etc. may be used as the inclination sensor, and in the case of the acceleration sensor, any one of a gyro type, an inertial type, and a silicon semiconductor type is applicable.

In addition, the sensor unit 150 may detect an operation state or abnormality through a sensor installed inside the mobile robot 1 .

The obstacle detecting unit 100 may include a pattern irradiator, a light source, and a pattern generator (OPPE) that generates a predetermined pattern by transmitting light irradiated from the light source. The light source may be a laser diode (LD), a light emitting diode (LED), or the like. Laser light is superior to other light sources in monochromaticity, straightness and connection characteristics, enabling precise distance measurement. Since there is a problem that is large, a laser diode is preferable as a light source. The pattern generator may include a lens and a diffractive optical element (DOE). Various patterns of light may be irradiated according to the configuration of the pattern generator provided in each pattern irradiation unit.

The pattern acquisition unit 140 may acquire an image of the front of the main body 10 or an image of the ceiling. In particular, pattern light appears in the image acquired by the pattern acquisition unit 140 (hereinafter, referred to as an acquired image), and hereinafter, the image of the patterned light shown in the acquired image is called a light pattern, which is substantially in real space. The incident pattern light is formed on the image sensor. When the pattern irradiation unit is not provided, the pattern acquisition unit acquires an image of the front of the main body without pattern light.

The pattern acquisition unit may include a camera that converts the image of the subject into an electrical signal and then converts the image into a digital signal and stores it in a memory device. The camera includes at least one optical lens, an image sensor (eg, CMOS image sensor) including a plurality of photodiodes (eg, pixels) that are imaged by light passing through the optical lens (eg, CMOS image sensor); It may include a digital signal processor (DSP) that configures an image based on the signals output from the diodes. The digital signal processor may generate a still image as well as a moving picture composed of frames composed of still images.

An image sensor is a device that converts an optical image into an electrical signal, and is composed of a chip in which a plurality of photodiodes are integrated, for example, a pixel as the photodiode. Charges are accumulated in each pixel by the image formed on the chip by the light passing through the lens, and the charges accumulated in the pixel are converted into electrical signals (eg, voltage). As an image sensor, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), etc. are well known.

The obstacle detecting unit 100 analyzes the pattern through the acquired image to detect the obstacle according to the shape of the pattern, and the sensor unit 150 detects the obstacle through the sensor provided at the sensing distance of each sensor.

The image acquisition unit 170 continuously captures images when the mobile robot operates. In addition, the image acquisition unit 170 may capture an image in a predetermined period or a predetermined distance unit. The image acquisition unit 170 may photograph an image when an obstacle is detected by the obstacle detection unit 100 , and may also photograph an image in a moving or cleaning state in which the obstacle is not detected.

The image acquisition unit 170 may set a shooting period according to the moving speed of the mobile robot. In addition, the image acquisition unit 170 may set the shooting period in consideration of the sensing distance by the sensor unit and the moving speed of the mobile robot.

The image acquisition unit 170 may acquire an image of the front for the driving direction, as well as photograph an upward ceiling shape.

The image acquisition unit 170 stores the image captured while the main body is driving as image data 182 in the data unit 180 .

The obstacle detecting unit 100 inputs information on the position of the detected obstacle or its movement to the controller 110 . The sensor unit 150 may input a detection signal for an obstacle detected by a provided sensor to the control unit. The image acquisition unit 170 inputs the captured image to the control unit.

The control unit 110 controls the traveling unit 250 so that the mobile robot travels within a designated area among the traveling areas.

The control unit 110 processes the data input by the operation of the operation unit 160 to set the operation mode of the mobile robot, outputs the operation state through the output unit 190, and detects the operation state, error state, or obstacle. Alerts, sound effects, and voice guidance are output through the speaker.

The control unit 110 generates a map of the driving area based on the image acquired from the image acquisition unit 170 or obstacle information detected from the obstacle detection unit 100 . The controller 110 may generate a map based on obstacle information while driving within the region, and may generate the map by determining the shape of the driving region from the image of the image acquisition unit.

The control unit 110 controls the driving unit to recognize an obstacle detected by the image acquisition unit 170 or the obstacle sensing unit 100 and to perform a specific operation or change a path in response thereto. In addition, the control unit may output a predetermined sound effect or warning sound through the output unit as necessary, and may control the image acquisition unit to capture an image.

The controller 110 controls the driving unit 250 and the cleaning unit 260 while driving to absorb dust or foreign substances around the mobile robot, thereby cleaning the driving area. Accordingly, the cleaning unit 260 operates the brush to make it easy to suck dust or foreign substances around the mobile robot, and operates the suction device to suck the dust or foreign substances. Controls the cleaning unit to perform cleaning by sucking foreign substances while driving.

The control unit 110 checks the charging capacity of the battery to determine the time to return to the charging station. When the charging capacity reaches a predetermined value, the control unit 110 stops the operation being performed and starts searching for the charging station to return to the charging station. The controller 110 may output a notification about the charging capacity of the battery and a notification about returning to the charging station. In addition, when a signal transmitted from the charging station is received through the communication unit 290 , the control unit 110 may return to the charging station.

The controller 110 controls the signal transmission period so that each signal can be distinguished for a plurality of sensors using the same wavelength band signal.

The control unit 110 controls the signal transmission period with respect to the sensor unit, the obstacle detection unit, and the charging station. When it is impossible to control the docking signal of the charging station, the period for the signal of the sensor provided in the main body is changed correspondingly.

The controller 110 classifies a plurality of signals by determining whether a received signal is a signal received according to a specified period.

When signal interference occurs, the control unit 110 temporarily stops the operation of some sensors to receive signals from other sensors in case of a sensor erroneous detection.

Accordingly, the mobile robot can prevent signal interference by changing the signal transmission period.

The control unit 110 includes an obstacle recognition unit 111 , a map generation unit 112 , and a driving control unit 113 .

The map generator 112 generates a map for the area based on obstacle information while driving in the area during initial operation or when the map for the area is not stored. In addition, the map generator 112 updates the previously generated map based on obstacle information acquired while driving.

In addition, the map generator 112 analyzes an image obtained while driving, determines the shape of the region, and generates a map. The map generator 112 analyzes the image to extract feature points, and determines the shape of the region from the extracted features.

The map generator 112 may determine the shape of a region by arranging a plurality of images or moving images captured by the image acquisition unit according to a change in the position of the mobile robot or the passage of time, and matching the position.

Also, the map generator 112 may classify regions from features extracted from the image. The map generating unit 112 may determine the location of the door based on the connection relationship between the features, and may generate a map composed of a plurality of areas by dividing the boundary lines between the areas accordingly.

The map generator 112 connects and divides the extracted features to form a reference line, and finally confirms the shape of the region based on this.

The obstacle recognition unit 111 determines an obstacle through data input from the image acquisition unit 170 or the obstacle detection unit 100 , and the map generation unit 112 generates a map for the driving area and detects the obstacle. information is included in the map.

The obstacle recognition unit 111 determines the obstacle by analyzing the data input from the obstacle sensing unit 100 . The obstacle recognition unit 111 calculates the direction of the obstacle or the distance to the obstacle according to a signal detected by the obstacle sensing unit, for example, an ultrasonic wave or a laser signal. When using an ultrasonic wave or infrared signal, the obstacle recognition unit 111 determines the obstacle based on the difference in the shape of the ultrasonic wave received and the ultrasonic wave reception time depending on the distance to the obstacle or the position of the obstacle.

The obstacle recognition unit 111 analyzes the acquired image including the pattern to extract the pattern, and determines the obstacle by analyzing the shape of the pattern.

Also, the obstacle recognition unit 111 may detect a human body. The obstacle recognition unit 111 detects a human body by analyzing data input through the obstacle detection unit 100 or the image acquisition unit 170 , and determines whether the human body is a specific user.

The obstacle recognizing unit 111 may store pre-registered user data, for example, an image of the user, and characteristics according to the user's shape as data, and determine whether the user is a registered user when detecting a human body.

The obstacle recognition unit 111 analyzes the image data and extracts the characteristics of the obstacle, determines the obstacle based on the shape (form), size, and color of the obstacle, and determines the position thereof.

The obstacle recognition unit 111 may determine the type of obstacle by excluding the background of the image from the image data, and extracting the characteristics of the obstacle based on pre-stored obstacle data. The obstacle data 181 is updated by new obstacle data received from the server. The mobile robot 1 may store obstacle data on the detected obstacle and receive data on the type of obstacle from the server for other data. In addition, the obstacle recognition unit 111 stores the information of the recognized obstacle in the obstacle data, and transmits the recognizable image data to the server (not shown) through the communication unit 290 to determine the type of the obstacle. The communication unit 290 transmits at least one image data to the server.

The driving controller 113 controls the driving unit 250 to pass through or avoid the obstacle by changing the moving direction or the driving route in response to the obstacle information.

The traveling control unit 113 controls the traveling unit 250 to independently control the operation of the left wheel drive motor and the right wheel drive motor so that the main body 10 travels in a straight line or rotates. The traveling control unit 113 controls the traveling unit 250 and the cleaning unit 260 according to the cleaning command so that the main body 10 sucks foreign substances while traveling in the cleaning area to perform cleaning.

The driving control unit 113 controls the driving unit 250 to move to a set area based on the map generated by the map generating unit 112 or to move the main body within the set area. In addition, the driving control unit 113 controls the driving unit to perform a predetermined operation in response to the obstacle or change the driving route according to the detection signal of the obstacle detecting unit 100 to travel.

The driving controller 113 controls the driving unit to set the avoidance, approach, and approach distance, and to perform at least one of stopping, decelerating, accelerating, reverse driving, U-turn, and changing the driving direction in response to the detected obstacle.

In addition, the driving control unit 113 may output an error and, if necessary, output a predetermined warning sound or voice guidance.

3 is a diagram referenced for explaining signal interference between a mobile robot and a charging station according to an embodiment of the present invention.

As shown in FIG. 3 , the mobile robot 1 docks on the charging stand to receive charging current to charge the battery.

The charging station 40 transmits a docking signal SD for inducing docking of the mobile robot 1 .

When the mobile robot 1 receives a docking signal SD transmitted from the charging station 40 when charging is required, the mobile robot 1 returns to the charging station 40 according to the docking signal and attempts docking.

The charging station 40 outputs a docking signal through the signal transmitting unit 420 . The docking signal may be an IR signal.

The mobile robot 1 includes a plurality of sensors 280 provided on the front side of the main body 10 in addition to the obstacle detecting unit 100 . A plurality of sensors may be included in the sensor unit 150 .

A plurality of sensors are installed from the front of the main body 10 toward the front and upper direction to transmit the detection signal ST. An IR signal may be used as the detection signal ST. For the plurality of sensors, time of flight (TOF) may be used.

When both the docking signal SD of the charging stand and the detection signal ST of the sensor unit use IR signals, signal interference may occur. In particular, when the mobile robot attempts to dock the charging cradle, signal interference occurs as the main body faces the charging cradle. For example, a malfunction may occur by recognizing the docking signal as a detection signal.

In addition to the case of attempting docking, when the mobile robot travels within the range of the docking signal, mutual interference may occur as the sensing signal of the sensor and the docking signal are composed of signals of the same wavelength.

In addition, the detection signal may be reflected on the side of the charging stand and input to the docking signal receiver 270 . At this time, since interference occurs in the docking signal by the detection signal, docking may fail.

Accordingly, the mobile robot may recognize the docking signal as a detection signal or recognize the detection signal as a docking signal.

In addition, when the detection signal is reflected from a nearby obstacle or wall and is incident on the receiver of the sensor, a false sense of detection may occur.

As the docking signal and the detection signal, an IR signal of a wavelength band of 940 nm may be used. The wavelength band can be changed, and the present invention can be applied to prevent interference by distinguishing a plurality of signals in the same wavelength band.

4 is a diagram illustrating a detection signal of a sensor for detecting an obstacle of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 4 , the plurality of sensors 280 are radially arranged at regular intervals based on the front center of the main body 10 .

A sensor hole is formed in the casing of the main body 10 , and the sensors 280 are mounted on a circuit board (PCB) located inside the casing, respectively, and the first to sixth sensors 281 to 286 are predetermined through the sensor holes. It transmits the detection signals ST1 to ST6 and detects an obstacle according to the received signal.

The first to sixth sensors 281 to 286 are mounted on respective circuit boards (not shown), and a transmitter and a receiver are provided on one circuit board. The sensor 280 transmits and receives signals such as lasers, ultrasonic waves, and infrared rays. Hereinafter, transmission of infrared signals will be described as an example. The plurality of sensors 280 may be TOF sensors.

Each circuit board on which the first to sixth sensors are mounted is connected to a main board (not shown) disposed in the inner center of the main body 10 to control the detection signals of the first to sixth sensors, and to transmit received signals. Detect obstacles through Each circuit board on which the first to sixth sensors are mounted is connected to each other through a flexible connector, and is connected to the main board.

The main board is provided with a control unit, supplies operating power to a plurality of circuit boards on which the first to sixth sensors 281 to 286 are mounted, and receives detection signals from the first to sixth sensors 281 to 286. It is applied to the control unit 110 . The control unit includes at least one processor.

The first to sixth sensors 281 to 286 may share a clock signal and a communication line, and may be respectively connected to individual power lines to receive operating power. The signal value of the sensor may be applied to the control unit through a power line. The control unit 110 receives the sensing signal of the sensor through a change in voltage or current of the power line.

5 is a diagram illustrating a docking signal of a charging station according to an embodiment of the present invention.

As shown in FIG. 5 , the charging stand 40 includes a charging terminal 410 and a signal transmitting unit 420 . In addition, the charging stand may include a proximity sensor for detecting the approach of the mobile robot.

The signal transmitting unit 420 is installed on the side of the charging stand, and transmits the docking signal SD in the direction in which the main body of the mobile robot 1 is docked.

The signal transmitting unit 420 transmits a docking signal SD for inducing the mobile robot 1 to approach the charging station so that the charging terminal can be electrically connected.

An infrared signal may be used as the docking signal SD.

6 is a diagram referenced for explaining a signal interference phenomenon between a detection signal and a docking signal of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 6 , as signals in the same wavelength band are used, the docking signal SD and the sensing signal ST may overlap.

When the signals overlap, it is difficult for the control unit to distinguish the docking signal from the detection signal, so it is impossible to determine whether an obstacle is detected and, if necessary, it is impossible to return to the charging station.

Accordingly, the control unit 110 controls the signal transmission period with respect to the first to sixth sensors 281 to 286, so as to be distinguished from the docking signal.

As shown in (b) of FIG. 6 , the charging stand outputs a docking signal at an interval of about 123 ms.

The control unit 110 controls the signal transmission period for the first to sixth sensors 281 to 286 so as to be distinguished from the docking signal.

As shown in (c) of FIG. 6 , the controller 110 may set the transmission period for the plurality of sensors differently from the transmission period of the docking signal of the charging station. For example, the control unit 110 transmits the detection signal at a period of 40 ms.

The control unit 110 controls the signal transmission period for the plurality of sensors by using the synchronization signal and the power line connected to the first to sixth sensors.

The controller may minimize signal interference by setting different signal transmission periods for the docking signal and the detection signal.

When a detection signal or a docking signal is input, the control unit 110 determines whether the signal corresponds to a specified period and classifies the signal.

The control unit may determine that noise has occurred before reaching the signal transmission period of the docking signal, when the docking signal is received, or when the detection signal is received before reaching the signal transmission period of the detection signal. When noise is generated, the control unit determines that the signal is erroneously detected.

When it is determined that the signal is erroneously detected, that is, when it is determined that the signal is input at a time other than the specified period, the controller 110 may determine that the signal is erroneously detected.

The controller 110 may control the sensor to stop operation for a predetermined time when a signal erroneous detection occurs. When the sensor stops the operation and does not transmit a detection signal, it is possible to receive a normal docking signal.

Also, the controller 110 may reset the signal transmission time of the sensor by temporarily stopping the operation of the sensor. In some cases, the controller 110 may change the signal transmission period of the sensor.

Accordingly, the mobile robot 1 can prevent an erroneous detection phenomenon in which a docking signal is input as a detection signal or a detection signal is input as a docking signal.

7 is a flowchart illustrating a control method for signal processing of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 7 , the mobile robot 1 performs cleaning while moving to a designated location or driving a set area according to the setting ( S310 ).

The control unit 110 causes the plurality of sensors to transmit detection signals according to a first time, which is a designated control period ( S320 ). Accordingly, the first to sixth sensors transmit a detection signal and make an obstacle through an incident received signal. The first time may be set corresponding to the transmission period of the detection signal.

When the control period is reached, the control unit 110 determines whether the main body is being cleaned or is moving to a specific location (S330).

When the mobile robot 1 is cleaning or moving, even if a docking signal is received, the mobile robot 1 ignores the docking signal, and transmits a detection signal to the first to sixth sensors while driving to detect an obstacle (S370).

The control unit 110 transmits a detection signal through the first to sixth sensors at every control period. The obstacle detecting unit may detect an obstacle by using the pattern light separately from the first to sixth sensors of the sensor unit.

Since there is no need to attempt docking when the controller 110 is cleaning or moving to a destination and the charging current of the battery is sufficient, the controller 110 may operate according to the detection signal without considering the docking signal. The control unit 110 controls the driving unit so that the main body moves by ignoring even if a docking signal is received while cleaning or moving, and setting a driving route according to the detected obstacle.

When the main body is not being cleaned or moved, that is, when returning to the charging station for charging or waiting without a set operation, the control unit 110 determines whether a detection signal is erroneously detected (S340).

When the detection signal and the docking signal are simultaneously received and the signals overlap, the control unit 110 determines that the signal is misdetected. In addition, when the detection signal is erroneously detected, the detection signal is incident on the docking signal receiving unit 270 . When the detection signal other than the docking signal is recognized as the docking signal, the docking signal is erroneously detected as the detection signal. may also include.

The control unit 110 may determine whether it is a detection signal by comparing the pattern of the received signal, and may determine whether the signal is misdetected by determining whether it corresponds to the signal transmission period of the detection signal and the docking signal. have.

The control unit 110 may determine that noise has occurred before reaching the signal transmission period of the docking signal, when the docking signal is received, or when the detection signal is received before reaching the signal transmission period of the detection signal. When noise is generated, the control unit determines that the signal is erroneously detected.

When the detection signal for the obstacle is erroneously detected, the controller 110 causes the first to sixth sensors 281 to 286 to stop operating for a second time (S350). The first to sixth sensors stand by without transmitting a detection signal according to the control command of the controller.

The second time is set to be greater than the signal transmission period of the detection signal, and it is preferable to set the time to a degree that the detection signal is not transmitted at least twice. The second time may be set to 80 to 120 ms. The second time may be set to 100 ms.

As the detection signals of the first to sixth sensors are not transmitted, it is possible to prevent erroneous detection of the detection signals as the docking signals.

On the other hand, when the plurality of sensors reach the control period in a state in which the operation is stopped, it is determined whether a docking signal is received (S360). If the docking signal is not received, it can wait until the next control cycle.

In addition, if charging is required or a docking signal is received while attempting to dock, the controller determines whether the docking signal is a normal signal.

When a false detection of an obstacle does not occur, the control unit 110 determines whether the received signal is a docking signal (S360).

When the docking signal is not received, obstacle detection is performed through the detection signals of the first to sixth sensors (S370). It is determined that the mobile robot 1 does not approach the charging station, and it is possible to continue driving to return to the charging station while detecting an obstacle.

When a docking signal is received while attempting to dock, the controller 110 stops detecting obstacles (S380). After the first to sixth sensors 281 to 286 output a detection signal once, the controller 110 controls the first to sixth sensors 281 to 286 to stop their operation.

The controller 110 controls the first to sixth sensors to stop detecting obstacles in order to prevent signal interference from occurring during docking.

After transmitting the detection signal according to the control command of the controller, the first to sixth sensors wait without transmitting the detection signal for a third time. The third time may be set based on a time for attempting docking or a time required for docking according to a docking signal. The third time may be set to about 150 ms.

The control unit 110 detects an obstacle in the vicinity through a detection signal before docking with the charging stand. The control unit 110 may determine the distance to the charging station through the detection signal.

The controller controls the driving unit in response to the docking signal (S390). Accordingly, the main body is docked to the charging stand, and is connected to the charging terminal to supply charging current.

Accordingly, the mobile robot distinguishes the detection signal and the docking signal according to the period of the detection signal and the operation state of the main body while setting the period of the detection signal and the docking signal to be different. When a signal is detected erroneously, detection of an obstacle may be stopped to prevent false signal detection.

In addition, when docking the charging base, by controlling the operation of the detection signal, it is possible to prevent the docking signal from being erroneously detected.

8 is a flowchart illustrating a signal flow between a mobile robot and a charging station according to an embodiment of the present invention.

As shown in FIG. 8 , when the first to sixth sensors 281 to 286 transmit detection signals, and the charging stand 40 outputs a docking signal, the control unit 110 detects an obstacle according to the received signal and try to dock

The first to sixth sensors 281 to 286 transmit detection signals according to a designated signal transmission period (S110 to S130).

The charging station 40 transmits a docking signal according to a designated signal transmission period (S140) (S180) (S230).

Each sensor inputs the sensor value to the control unit 110 when the transmitted detection signal is reflected by the obstacle and received by the receiving unit of each sensor. The controller 110 determines whether the obstacle is located in the driving direction or the position of the obstacle according to the input sensor value.

When the detection signal is received when the detection signal is not transmitted from the sensor, the control unit 110 may determine that a copy signal or a docking signal of the detection signal has been received, thereby determining that noise has occurred.

In addition, when the detection signal transmitted from the first to sixth sensors and the docking signal of the charging station are received by the docking signal receiving unit 270 , the control unit 110 determines that the signal is overlapped as noise ( S140 ).

When noise is generated (S150), the controller 110 determines that the signal is erroneous and applies a control command so that the first to sixth sensors stop detecting obstacles for a second time (S160).

According to the control command, the first to sixth sensors 281 to 286 stop their operation and wait for a second time (S170). The second time may be set to about 100 ms.

When a docking signal is received (S180) while the first to sixth sensors 281 to 286 are stopped, the controller 110 transmits a control command for docking to the first to sixth sensors 281 to 286. do (S190).

The first to sixth sensors 281 to 286 transmit a detection signal once according to a control command for docking (S200). The control unit may calculate the distance to the charging station according to the detection signal.

The control unit 110 applies a control command to stop the operation of the first to sixth sensors 281 to 286 for the third time (S210).

The first to sixth sensors 281 to 286 wait without transmitting a detection signal for the third time period. The third time may be set to about 150 ms.

Accordingly, when the signal overlaps, the mobile robot determines that it is noise and stops transmitting the detection signal of the sensor to prevent signal interference. In addition, when the mobile robot is docked with the charging cradle, the sensor is stopped so that it can be docked with the charging cradle according to the docking signal.

The mobile robot according to the present embodiment operating as described above may be implemented in the form of an independent hardware device, and is driven as at least one processor in a form included in other hardware devices such as a microprocessor or general-purpose computer system. can be

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments.

1: mobile robot 40: charging stand
100: obstacle detection unit 110: control unit
111: obstacle recognition unit 112: map generation unit
113: driving control unit 150: sensor unit
170: image acquisition unit 180: data unit
270: docking signal receiver
280, 281 to 286: first to sixth sensors

Claims (23)

a body running through the area;
a sensor unit disposed in front of the main body to transmit a detection signal to detect an obstacle located at a predetermined distance from the main body;
a docking signal receiving unit for receiving a docking signal transmitted from the charging station;
a driving unit for controlling the driving of the main body; and
A control unit that determines the position of the obstacle in response to the detection signal, controls the driving in response to the obstacle, and controls the driving unit to dock the charging base according to the docking signal when charging is required,
The control unit controls the sensor unit to transmit the detection signal at a period different from the signal transmission period of the docking signal, and when the docking signal and the detection signal overlap to generate noise, it is determined as a signal erroneous detection and the operation of the sensor unit A mobile robot, characterized in that it stops for a certain period of time. The method of claim 1,
When the main body is being cleaned or moving to a destination, the controller detects an obstacle according to the sensing signal of the sensor unit regardless of the docking signal and controls the driving unit. The method of claim 1,
The control unit is a mobile robot that requires charging or returns to the charging station according to the docking signal received during standby. The method of claim 1,
The control unit transmits a control command according to the docking to the sensor unit when the docking signal is received while charging is required or attempting docking,
The sensor unit transmits the detection signal once in response to a control command according to the docking and stops the operation for a predetermined time. 5. The method of claim 4,
The control unit calculates the position of the charging station by using the sensing signal transmitted once,
The traveling unit travels according to the docking signal, and the mobile robot docks with the charging station. The method of claim 1,
When the docking signal is received, the controller determines whether the docking signal is a normal signal. 7. The method of claim 6,
The control unit is a mobile robot for determining whether a normal signal or a signal is erroneously detected according to the signal pattern of the docking signal. 7. The method of claim 6,
The control unit compares the signal transmission period of the docking signal to determine whether the docking signal is a normal signal or a signal is erroneously detected. The method of claim 1,
The controller determines that noise is generated when the docking signal is received before reaching the signal transmission period of the docking signal. The method of claim 1,
When the control unit receives the detection signal before reaching the signal transmission period of the detection signal, the mobile robot determines that noise has occurred. 11. The method of any one of claims 9 and 10,
When the control unit generates noise, it is determined that a signal is erroneously detected, and the control unit stops the operation of the sensor unit for a designated stop time. 12. The method of claim 11,
The control unit sets the stop time so that the sensor unit stops for a time corresponding to at least twice a signal transmission period of the detection signal. The method of claim 1,
The sensor unit is a mobile robot including first to sixth sensors disposed in a radial direction at regular intervals with respect to the center of the front, in front of the main body. 14. The method of claim 13,
The first to sixth sensors are TOF sensors. The method of claim 1,
The mobile robot, characterized in that the docking signal and the detection signal are signals of the same wavelength. Sensing an obstacle by transmitting detection signals from a plurality of sensors disposed in front of the body while driving;
determining the position of the obstacle in response to the detection signal and performing a designated operation in response to the obstacle;
If charging is required, stopping the operation and moving to a charging station;
determining that the signal is erroneously detected when the docking signal of the charging station and the detection signal overlap to generate noise;
stopping the operation of the plurality of sensors for a specified stop time; and
A control method of a mobile robot comprising a; docking the charging base according to the docking signal. 17. The method of claim 16,
determining that noise has occurred when the docking signal is received before reaching the signal transmission period of the docking signal; and
The control method of a mobile robot further comprising; determining that a signal is erroneously detected when noise is generated, and stopping the operation of the plurality of sensors during the stop time during the stop time. 17. The method of claim 16,
determining that noise is generated when the detection signal is received before reaching a signal transmission period of the detection signal while driving; and
The control method of the mobile robot further comprising the step of judging that a signal is misdetected when noise is generated, and stopping the operation of the plurality of sensors during the stop time. 17. The method of claim 16,
When cleaning or moving to a destination, even if the docking signal is received, the control method of the mobile robot further comprising the step of detecting an obstacle according to the detection signal regardless of the docking signal and driving. 17. The method of claim 16,
transmitting a control command according to docking to the plurality of sensors when the docking signal is received;
transmitting, by the plurality of sensors, the detection signal once;
The method of controlling a mobile robot further comprising the step of stopping the operation of the plurality of sensors for a predetermined time. 17. The method of claim 16,
When the docking signal is received, the control method of the mobile robot further comprising the step of determining whether the docking signal is a normal signal. 22. The method of claim 21,
The control method of the mobile robot further comprising the step of determining whether a normal signal or a signal is erroneously detected according to the signal pattern of the docking signal. 22. The method of claim 21,
A control method of a mobile robot for determining whether the docking signal is a normal signal or a signal is erroneously detected by comparing with the signal transmission period of the docking signal.

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